# Cookwala ROS 2 interfaces

`cookwala_msgs` is a ROS 2 interface package (ament_cmake) with two actions that mirror the
Core 0.2 API:

| Action | Goal | Feedback | Result |
|---|---|---|---|
| `ExecuteRecipe` | `ExecuteRequest` (recipe ref, hash, servings, idempotency key, full request JSON) | `ExecutionStatus` fields (seq, state, node, op, progress, rung, medium temperature, human needed) | final state, refusal reason, `ExecutionLog` JSON |
| `ExecuteNode` | one recipe node, its envelope, an optional narrower target | progress, medium temperature, target reached | envelope ok, rung used, step summary, deviation |

Cancelling a goal is a `StopRequest`: the server must stop safely. Safety limits are enforced
by the device; nothing in a goal can change them.

```bash
# in a ROS 2 workspace
ln -s /path/to/cookwala/bindings/ros2/cookwala_msgs src/cookwala_msgs
colcon build --packages-select cookwala_msgs
ros2 interface show cookwala_msgs/action/ExecuteRecipe
```

JSON fields are carried as strings so the ROS 2 types never drift from the schemas; validate
them with the published bundle at https://cookwala.ai/v1/schemas/bundle.json (generated by `tools/build_site.sh`). The package is not yet built in CI. A bridge node that maps these actions to the HTTP Core API
(the reference hub in `hub/`) is a good first contribution; see `docs/ROBOTICS.md`.